diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
index 2d55d88260c78..7d0988635fb10 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
@@ -51,9 +51,9 @@
   <arg name="use_near_radar_fusion" default="false"/>
   <arg name="far_object_merger_sync_queue_size" default="20"/>
 
-  <!-- Filter output name. Switch output topic name by 'radar_long_range_integration' parameter defined in perception.launch -->
-  <let name="output_of_filtered_objects" value="$(var output/objects)" if="$(eval &quot; '$(var radar_long_range_integration)'=='tracking' &quot;)"/>
-  <let name="output_of_filtered_objects" value="near_objects" unless="$(eval &quot; '$(var radar_long_range_integration)'=='tracking' &quot;)"/>
+  <!-- Filter output name. Switch output topic name by 'use_radar_tracking_fusion' parameter defined in perception.launch -->
+  <let name="output_of_filtered_objects" value="$(var output/objects)" if="$(var use_radar_tracking_fusion)"/>
+  <let name="output_of_filtered_objects" value="near_objects" unless="$(var use_radar_tracking_fusion)"/>
 
   <!-- Jetson AGX -->
   <!-- <include file="$(find-pkg-share tensorrt_yolo)/launch/yolo.launch.xml">
@@ -410,8 +410,8 @@
   </group>
 
   <!-- Merge far_objects and near_objects in detection stage.
-      Control parameter 'radar_long_range_integration' should defined in perception.launch.xml -->
-  <group if="$(eval &quot;'$(var radar_long_range_integration)'=='detection'&quot;)">
+      Control parameter 'use_radar_tracking_fusion' should defined in perception.launch.xml -->
+  <group if="$(var use_radar_tracking_fusion)">
     <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
       <arg name="input/object0" value="near_objects"/>
       <arg name="input/object1" value="radar/far_objects"/>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml
index 2f3ebb477557c..07b53fb671732 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml
@@ -5,7 +5,7 @@
   <arg name="enable_delay_compensation" default="true"/>
 
   <!-- Radar Tracking and Merger parameters -->
-  <arg name="radar_long_range_integration" default="detection" description="integration method for radar long range information. Following args are used only if this parameter is set to 'tracking'"/>
+  <arg name="use_radar_tracking_fusion" default="false" description="use radar tracking fusion"/>
   <arg name="radar_tracker_input" default="/perception/object_recognition/detection/radar/far_objects"/>
   <arg name="radar_tracker_output" default="/perception/object_recognition/tracking/radar/far_objects"/>
   <arg name="object_recognition_tracking_radar_object_tracker_data_association_matrix_param_path" description="association param file for radar far object tracking"/>
@@ -15,7 +15,7 @@
   <arg name="object_recognition_tracking_object_merger_node_param_path" description="node param file for radar and lidar object merger"/>
 
   <!-- Run without tracking merger-->
-  <group unless="$(eval &quot;'$(var radar_long_range_integration)'=='tracking'&quot;)">
+  <group unless="$(var use_radar_tracking_fusion)">
     <!--multi object tracking-->
     <include file="$(find-pkg-share multi_object_tracker)/launch/multi_object_tracker.launch.xml">
       <arg name="data_association_matrix_path" value="$(var object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path)"/>
@@ -25,7 +25,7 @@
   </group>
 
   <!-- Run with tracking merger to add far radar information -->
-  <group if="$(eval &quot;'$(var radar_long_range_integration)'=='tracking'&quot;)">
+  <group if="$(var use_radar_tracking_fusion)">
     <!--multi object tracking for near objects-->
     <include file="$(find-pkg-share multi_object_tracker)/launch/multi_object_tracker.launch.xml">
       <arg name="data_association_matrix_path" value="$(var object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path)"/>
diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml
index 0bcaea11f71c8..63ea0cc7f0f3d 100644
--- a/launch/tier4_perception_launch/launch/perception.launch.xml
+++ b/launch/tier4_perception_launch/launch/perception.launch.xml
@@ -98,10 +98,9 @@
 
   <!-- Radar long range integration methods -->
   <arg
-    name="radar_long_range_integration"
-    default="tracking"
-    description="integration method for radar long range information.
-   'detection' means radar information is merged in detection launch. 'tracking' means radar information is merged in tracking launch. 'none' means radar information is not merged."
+    name="use_radar_tracking_fusion"
+    default="false"
+    description="if use_radar_tracking_fusion:=true, radar information is merged in tracking launch. Otherwise, radar information is merged in detection launch."
   />
 
   <!-- Perception module -->